System and method for compensation of turbo lag in hybrid vehicles

ABSTRACT

A system and method for compensation of turbo lag in hybrid vehicles is disclosed. The system identifies a zero boost power limit of the engine and a torque curve power limit. A turbocharger dynamic model is then developed based on measurements of the input engine power and the output max available engine power. The model is used to determine an overall propulsion power limit based on the combination of the engine and motor in operation. A power request by the driver may then be limited to the overall propulsion power limit to compensate for the effect of the turbocharger when propelling the vehicle using both the engine and motor and better simulate the engine-only response.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. Pat. No. 15,657,875 filed Jul. 24, 2017, which is a continuation of U.S. application Ser. No. 14/838,403 filed Aug. 28, 2015, which is a continuation of International Application No. PCT/US2014/020417 filed Mar. 4, 2014, which claims the benefit of U.S. Provisional Application No. 61/782,962 filed Mar. 14, 2013, which are hereby incorporated by reference in their entirety.

BACKGROUND

Hybrid vehicles typically have a combustion engine and an eMachine which can act as both an electric motor and a generator. During braking, such vehicles are capable of capturing and storing the braking energy in a battery for later use in propelling the vehicle. This process is commonly referred to as regenerative braking. Some hybrid vehicles are configured to use the energy stored in the battery to boost propulsion performance beyond the capabilities of the engine acting alone. However, it is generally preferred to instead operate the vehicle in a manner which simulates the propulsion response of the engine only. This assures the operator will experience a response which is consistent with non-hybrid vehicles.

In order to achieve this engine-only simulated response when using both the electric motor and engine to propel the vehicle, many hybrid vehicles reduce the output of the engine by that of the hybrid motor to match the equivalent engine-only output. This method is typically satisfactory for normally aspirated engines, since the torque produced by the engine at a given rotational engine speed (rpm) is relatively constant over time.

In turbocharged engines, however, the power generated by the engine may change with time due to the effect of the turbocharger. A turbocharger uses engine exhaust gases to drive a turbine wheel. A shaft connects the turbine wheel to a compressor wheel in the air intake path of the engine. Therefore, as the turbine wheel is driven by the flow of exhaust gas, the compressor wheel also spins and compresses the air to the intake of the engine. As the intake air is compressed over time (and increasing amounts of fuel are added), the power generated by the engine also increases. As the engine output increases and more exhaust gases are generated, the turbine and compressor wheels spin faster, thereby increasing the power generated by the engine still further. However, because the turbocharger requires time to overcome the inertia of the compressor wheel and begin to spin, there is a delay in the delivered power response. This effect is commonly referred to as turbo lag and gives the operator a feeling of gradual building of engine power.

The turbocharger effect prevents the simple substitution of electrical power for engine power in a hybrid vehicle where an engine-only equivalent response is desired. This is because as electrical power from the motor replaces engine power, the engine power generation capacity is diminished even further due to the loss of the turbo effect. In other words, if a portion of the engine power is substituted by power generated by the electric motor, the resulting combination output will not match that of the equivalent output if the engine had been acting alone.

Thus, there is a need for improvement in this field.

SUMMARY

The system and method described herein addresses the issues mentioned above. In a general sense, the disclosed system monitors the engine output over time to determine a dynamic model of the turbocharger effect. The system then applies the model to determine a propulsion power limit for the combined output of the engine and electric motor which will simulate the response of the engine acting alone.

According to one aspect of the disclosure, a method of operating a hybrid vehicle is disclosed, comprising using a vehicle controller, determining a zero boost power limit of an engine of the hybrid vehicle, said engine including a turbocharger, determining a torque curve power limit of the engine, the torque curve power limit based upon the maximum available power when the turbocharger is operating at a predetermined level, monitoring a current power of the engine and a maximum available power of the engine when the maximum available power is between the zero boost power limit and the torque curve power limit, determining a dynamic response model of the engine based on said monitoring, the model providing an estimation of the engine output power over time as the turbocharger increases in speed, receiving a driver output torque request, and operating the hybrid vehicle such that the collective output power of the engine and an eMachine of the hybrid vehicle is automatically limited to a turbo-equivalent power limit based on said model, said-turbo equivalent power limit representing the power limit of the engine acting alone.

According to another aspect, a hybrid system is disclosed, comprising an engine having a turbocharger, an engine controller operatively coupled to the engine, an eMachine, a hybrid controller operatively coupled to the eMachine and in communication with the engine controller. The hybrid controller is configured to determine a zero boost power limit of the engine, receive torque curve information from the engine controller, determine a torque curve power limit of the engine from the torque curve information, monitor a current power of the engine and a maximum available power of the engine when the maximum available power is between the zero boost power limit and the torque curve power limit, determine a dynamic response model of the engine based on the monitoring, the model providing an estimation of the engine output power over time as the turbocharger increases in speed, receive a driver output torque request from the engine controller, and operate the hybrid vehicle such that the collective output power of the engine and an eMachine of the hybrid vehicle is automatically limited to a turbo-equivalent power limit based on the model, the turbo-equivalent power limit representing the power limit of the engine acting alone.

Further forms, objects, features, aspects, benefits, advantages, and embodiments of the present invention will become apparent from a detailed description and drawings provided herewith.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a diagrammatic view of one example of a hybrid system.

FIG. 2 illustrates a general diagram of an electrical communication system in the FIG. 1 hybrid system.

FIG. 3 illustrates a method for operating the hybrid system of FIG. 1 according to one embodiment.

DETAILED DESCRIPTION

For the purpose of promoting an understanding of the principles of the invention, reference will now be made to the embodiments illustrated in the drawings, and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended. Any alterations and further modifications in the described embodiments and any further applications of the principles of the invention as described herein are contemplated as would normally occur to one skilled in the art to which the invention relates. One embodiment of the invention is shown in great detail, although it will be apparent to those skilled in the relevant art that some features not relevant to the present invention may not be shown for the sake of clarity.

The reference numerals in the following description have been organized to aid the reader in quickly identifying the drawings where various components are first shown. In particular, the drawing in which an element first appears is typically indicated by the left-most digit(s) in the corresponding reference number. For example, an element identified by a “100” series reference numeral will first appear in FIG. 1, an element identified by a “200” series reference numeral will first appear in FIG. 2, and so on. With reference to the Specification, Abstract, and Claims sections herein, it should be noted that the singular forms “a”, “an”, “the”, and the like include plural referents unless expressly discussed otherwise. As an illustration, references to “a device” or “the device” include one or more of such devices and equivalents thereof.

FIG. 1 shows a diagrammatic view of a hybrid system 100 according to one embodiment. The hybrid system 100 illustrated in FIG. 1 is adapted for use in commercial-grade trucks as well as other types of vehicles or transportation systems, but it is envisioned that various aspects of the hybrid system 100 can be incorporated into other environments. As shown, the hybrid system 100 includes an engine 102, a hybrid module 104, an automatic transmission 106, and a drive train 108 for transferring power from the transmission 106 to wheels 110. In one example, the engine 102 comprises an internal combustion engine having a turbocharger. The turbocharger includes a turbine wheel in the exhaust path of the engine. A shaft connects the turbine wheel to a compressor wheel in the air intake path of the engine. As the turbine wheel is driven by the flow of exhaust gas from the engine, the compressor wheel also spins and compresses the air to the intake of the engine, thereby increasing the power generating capacity of the engine. The hybrid module 104 incorporates a rotating electrical machine, commonly referred to as an eMachine 112, and a clutch 114 that operatively connects and disconnects the engine 102 from the eMachine 112 and the transmission 106.

The hybrid module 104 is designed to operate as a self-sufficient unit, that is, it is generally able to operate independently of the engine 102 and transmission 106. In particular, its hydraulics, cooling and lubrication do not directly rely upon the engine 102 and the transmission 106. The hybrid module 104 includes a sump 116 that stores and supplies fluids, such as oil, lubricants, or other fluids. To circulate the fluid, the hybrid module 104 includes a mechanical pump 118 and an electrical (or electric) pump 120. With this combination of both the mechanical pump 118 and electrical pump 120, the overall size and, moreover, the overall expense for the pumps is reduced.

The hybrid system 100 further includes a cooling system 122 that is used to cool the fluid supplied to the hybrid module 104 as well as the water-ethylene-glycol (WEG) to various other components of the hybrid system 100 which will be described later in further detail. Looking at FIG. 1, the cooling system 122 includes a fluid radiator 124 that cools the fluid for the hybrid module 104. The cooling system 122 further includes a main radiator 126 that is configured to cool the antifreeze for various other components in the hybrid system 100. A cooling fan 128 flows air through both fluid radiator 124 and main radiator 126. A circulating or coolant pump 130 circulates the antifreeze to the main radiator 126.

The eMachine 112 in the hybrid module 104, depending on the operational mode, at times acts as a generator and at other times as a motor. When acting as a motor, the eMachine 112 draws alternating current (AC). When acting as a generator, the eMachine 112 creates AC. An inverter 132 converts the AC from the eMachine 112 and supplies it to an energy storage system 134. The eMachine 112 in one example is an HVH410 series electric motor manufactured by Remy International, Inc. of Pendleton, Ind., but it is envisioned that other types of eMachines can be used. In the illustrated example, the energy storage system 134 stores the energy and resupplies it as direct current (DC). When the eMachine 112 in the hybrid module 104 acts as a motor, the inverter 132 converts the DC power to AC, which in turn is supplied to the eMachine 112. The energy storage system 134 in the illustrated example includes three energy storage modules 136 that are connected together, preferably in parallel, to supply high voltage power to the inverter 132. The energy storage modules 136 are, in essence, electrochemical batteries for storing the energy generated by the eMachine 112 and rapidly supplying the energy back to the eMachine 112. The energy storage modules 136, the inverter 132, and the eMachine 112 are operatively coupled together through high voltage wiring as is depicted by the line illustrated in FIG. 1. While the illustrated example shows the energy storage system 134 including three energy storage modules 136, it should be recognized that the energy storage system 134 can include more or less energy storage modules 136 than is shown. Moreover, it is envisioned that the energy storage system 134 can include any system for storing potential energy, such as through chemical means, pneumatic accumulators, hydraulic accumulators, springs, thermal storage systems, flywheels, gravitational devices, and capacitors, to name just a few examples.

High voltage wiring connects the energy storage system 134 to a high voltage tap 138. The high voltage tap 138 supplies high voltage to various components attached to the vehicle. A DC-DC converter system 140, which includes one or more DC-DC converter modules 142, converts the high voltage power supplied by the energy storage system 134 to a lower voltage, which in turn is supplied to various systems and accessories 144 that require lower voltages. As illustrated in FIG. 1, low voltage wiring connects the DC-DC converter modules 142 to the low voltage systems and accessories 144.

The hybrid system 100 incorporates a number of control systems for controlling the operations of the various components. For example, the engine 102 has an engine control module 146 that controls various operational characteristics of the engine 102 such as fuel injection and the like. A transmission/hybrid control module (TCM/HCM) 148 substitutes for a traditional transmission control module and is designed to control both the operation of the transmission 106 as well as the hybrid module 104. The transmission/hybrid control module 148 and the engine control module 146 along with the inverter 132, energy storage system 134, and DC-DC converter system 140 communicate along a communication link as is depicted in FIG. 1. In a typical embodiment, the transmission/hybrid control module 148 and engine control module 146 each comprise a computer having a processor, memory, and input/output connections. Additionally, the inverter 132, energy storage system 134, DC-DC converter system 140, and other vehicle subsystems may also contain computers having similar processors, memory, and input/output connections.

To control and monitor the operation of the hybrid system 100, the hybrid system 100 includes an interface 150. The interface 150 includes a shift selector 152 for selecting whether the vehicle is in drive, neutral, reverse, etc., and an instrument panel 154 that includes various indicators 156 of the operational status of the hybrid system 100, such as check transmission, brake pressure, and air pressure indicators, to name just a few.

FIG. 2 shows a diagram of one example of a communication system 200 that can be used in the hybrid system 100. While one example is shown, it should be recognized that the communication system 200 in other embodiments can be configured differently than is shown. The communication system 200 is configured to minimally impact the control and electrical systems of the vehicle. To facilitate retrofitting to existing vehicle designs, the communication system 200 includes a hybrid data link 202 through which most of the various components of the hybrid system 100 communicate. In particular, the hybrid data link 202 facilitates communication between the transmission/hybrid control module 148 and the shift selector 152, inverter 132, the energy storage system 134, the low voltage systems/accessories 144, and the DC-DC converter modules 142. Within the energy storage system 134, an energy storage module data link 204 facilitates communication between the various energy storage modules 136. However, it is contemplated that in other embodiments the various energy storage system modules 136 can communicate with one another over the hybrid data link 202. With the hybrid data link 202 and the energy storage module data link 204 being separate from the data links used in the rest of the vehicle, the control/electrical component of the hybrid system 100 can be readily tied into the vehicle with minimum impact. In the illustrated example, the hybrid data link 202 and the energy storage module data link 204 each have a 500 kilobit/second (kbps) transmission rate, but it is envisioned that data can be transferred at other rates in other examples. Other components of the vehicle communicate with the transmission/hybrid control module 148 via a vehicle data link 206. In particular, the shift selector 152, the engine control module 146, the instrument panel 154, an antilock braking system 208, a body controller 210, the low voltage systems/accessories 144, and service tools 212 are connected to the vehicle data link 206. For instance, the vehicle data link 206 can be a 250 k J1939-type data link, a 500 k J1939-type data link, a General Motors LAN, or a PT-CAN type data link, just to name a few examples. All of these types of data links can take any number of forms such as metallic wiring, optical fibers, radio frequency, and/or a combination thereof, just to name a few examples.

In terms of general functionality, the transmission/hybrid control module 148 receives power limits, capacity, available current, voltage, temperature, state of charge, status, and fan speed information from the energy storage system 134 and the various energy storage modules 136 within. The transmission/hybrid control module 148 in turn sends commands for connecting the various energy storage modules 136 so as to supply voltage to and from the inverter 132. The transmission/hybrid control module 148 also receives information about the operation of the electrical pump 120 as well as issues commands to the electrical pump 120. From the inverter 132, the transmission/hybrid control module 148 receives a number of inputs such as the motor/generator torque that is available, the torque limits, the inverter's voltage, current and actual torque speed. Based on that information, the transmission/hybrid control module 148 controls the torque speed and the pump 130 of the cooling system. From the inverter 132, the transmission/hybrid control module 148 also receives a high voltage bus power and consumption information. The transmission/hybrid control module 148 also monitors the input voltage and current as well as the output voltage and current along with the operating status of the individual DC-DC converter modules 142 of the DC-DC converter system 140. The transmission/hybrid control module 148 also communicates with and receives information regarding engine speed, engine torque, engine power, engine power limit, torque curve information, and driver requested output torque, to name a few, from the engine control module 146 and in response controls the torque and speed of the engine 102 via the engine control module 146.

As discussed above, it may be advantageous to simulate an engine-only response during operation, even when operating the vehicle with the assistance of the eMachine 112. In order to better represent such a response, a method for compensating for the turbo-lag effect (e.g., when engine 102 is implemented as a turbocharged engine) will now be discussed.

The response of a turbocharged engine may be modeled as a first order linear system described by the differential equation (1) below:

$\begin{matrix} {\frac{{dy}(t)}{dt} = {{- \frac{y(t)}{T}} + {{ku}(t)}}} & (1) \end{matrix}$

where u(t) is the input engine power, y(t) is the resulting output power due to the turbocharger, T is a time constant, and k is a gain constant. It shall be understood that equation (1) represents only one possible turbo response model and that any model of turbocharger dynamics known in the art may be used in block 304. Furthermore, the first order linear system of equation (1) can be expressed in discrete time as equation (2) below: y([n+1]T _(s))=αy(n T _(s))+k(1−a)u(nT _(s))  (2)

where

$\alpha = e^{- \frac{T_{s}}{T}}$ and T_(s) is the discrete sample time, and n is the current iteration. Therefore, y([n+1]T_(s)) is the output value of the n+1 iteration, y(nT_(s)) is the output value of the n iteration, and u(nT_(s)) is the input value of the n iteration.

The engine control module 146 is continuously broadcasting the current power, power limit, torque curve, and the driver requested output torque to the transmission/hybrid control module 148. The engine control module 146 determines these values based on data received from various sensors within the system 100 and other stored data. For example, the current engine power may be determined by the actual engine torque (based on known fueling rate to torque relationships for the engine) multiplied by the current engine shaft speed received from a speed sensor on the engine output shaft. The engine power limit is the current power that the engine could supply if requested. The torque curve is a data table which equates various engine speeds to the amount of torque that could be supplied by the engine at those speeds if the turbo was already spun up to a given speed. The driver requested output torque is determined by the engine control module 146 based on the position of an accelerator pedal or other driver input device. It shall be understood that the values being received and calculated by the engine control module 146 may also be received and calculated directly by the transmission/hybrid control module 148. The engine control module 146 and the transmission/hybrid control module 148 may be implemented as separate units or integrated into a single controller or housing.

If the input u(nT_(s)) of equation (1) is taken to be the current engine power and the output y(nT_(s)) is taken to be the engine power limit, then as long as the engine is operating between an identified zero boost power limit and the torque curve limit, the constants k and a can be identified. In other words, since the input and output of the equation (1) are being broadcast by the engine and are therefore known, the remaining unknown k and a constants can be determined. The process for determining the k and a constants based on the known input and output may be implemented using adaptive infinite impulse response (IIR) filtering, such as the Steiglitz-McBride algorithm, although other methods known in the art may also be used. The determination of the constants k and a may be run continuously in order to constantly improve the accuracy of the turbo response model over time. To determine the zero boost power limit, the power limit broadcast by the engine control module 146 may be monitored while the engine is operating at low power, such as during an idle condition.

The identified constants k and a can be used to determine an overall turbo-equivalent power limit. The turbo-equivalent power limit is the limit that will be imposed on the combined output power of the engine 102 and eMachine 112 when both the engine 102 and eMachine 112 are contributing to the power being fed to the transmission 106. In this way, response of the vehicle perceived by the vehicle will simulate that of the turbocharged engine acting alone.

FIG. 3 represents a process for implementing the above method using the hybrid system 100. The process begins at start point 302 where the transmission/hybrid control module 148 determines that the engine 102 has attained an idle speed for a predetermined time (304). The transmission/hybrid control module 148 determines the zero boost power limit by averaging the values for maximum available torque received from the engine control module 146 over the idle time period and multiplying the average by the current engine speed. This provides an estimated lower limit for the engine output power when the turbocharger is not contributing to the output.

At stage 306, the transmission/hybrid control module 148 determines the torque curve power limit. As discussed above, the transmission/hybrid control module 148 receives the torque curve data (available torques at various speeds) from the engine control module 146. Alternatively, the torque curve data may be stored in memory of the transmission/hybrid control module 148. To determine the torque curve power limit, the transmission/hybrid control module 148 retrieves the maximum torque available at the current engine speed from the torque curve data, and multiplies the result by the current engine speed.

Continuing to stage, 308, the transmission/hybrid control module 148 monitors the values for current engine power, and current maximum available engine power being broadcast by the engine control module 146. As discussed above, at times when the current maximum available engine power is between the zero boost power limit (from stage 304) and the torque curve power limit (from stage 306), the observed data is used to determine the constants k and a of the turbocharger response equation (2). The stages 304, 306, and 308 above may be run continuously and independent of the remaining stages to adaptively identify and update the values being determined.

At stage 310, the transmission/hybrid control module 148 determines the current engine power being output by the engine 102. The transmission/hybrid control module 148 receives the actual engine torque and the current engine speed from the engine control module 146, and multiplies these values to determine the current engine power.

At stage 312, the transmission/hybrid control module 148 determines the current eMachine 112 output power being delivered to the transmission 106. To determine this, the transmission/hybrid control module 148 multiplies the eMachine 112 motor torque (which is known by the transmission/hybrid control module 148) by the eMachine 112 speed (received from a speed sensor on a shaft of the eMachine 112).

At stage 314, the transmission/hybrid control module 148 determines a total propulsion power being delivered to the transmission 106 by adding the current engine power from stage 310 to the current eMachine 112 power from stage 312.

At stage 316, along with the known constants k and a, the total propulsion power is applied as input u(nT_(s)) to equation (2). This gives the resulting turbo equivalent power limit, y([n+1]T_(s)), for the propulsion power of the combination of engine 102 and eMachine 112.

At stage 318, the transmission/hybrid control module 148 compares the turbo-equivalent power limit from stage 314 to the zero boost power limit from stage 304. If the turbo-equivalent power limit is less than the zero boost power limit, then the turbo-equivalent power limit is set to the zero boost power limit. If not, the turbo-equivalent power limit remains unchanged.

At stage 320, the transmission/hybrid control module 148 compares the turbo-equivalent power limit from stage 318 to the torque curve power limit from stage 306. If the torque curve power limit is less than the turbo-equivalent power limit, then the turbo-equivalent power limit is set to the torque curve power limit. If not, the turbo-equivalent power limit remains unchanged. At this point, the turbo-equivalent power limit is characterized as a total propulsion power limit. The stages 310-320 above may also be run continuously and independent of the other stages to adaptively identify and update the values being determined, including total propulsion power limit.

At stage 322, the transmission/hybrid control module 148 determines the driver requested output power. In one embodiment, the transmission/hybrid control module 148 receives the driver requested torque (based on acceleration pedal displacement) and current engine speed from the engine control module 146, and multiplies the values to determine the driver requested output power.

At stage 324, the transmission/hybrid control module 148 compares the driver requested power to the total propulsion power limit from stage 320 and determines a transmission input power request value. If the driver requested output power is less than the total propulsion power limit, then the input power request value will be set to a value equal to the driver requested power. However, if the driver request power is more than the total propulsion power limit, then the transmission input power request will be set to a value equal to the total propulsion power limit.

At stage 326, the transmission/hybrid control module 148 determines the amount of power to be supplied by each of the engine 102 and the eMachine 112 in order to collectively provide a total amount of input power to the transmission which is equal to the transmission input power request value from stage 324. Any combination of power levels of the engine 102 and eMachine 112 may be used as long as the total combined power is equal to the transmission input power request. This ensures that the response felt by the driver is limited to that of the turbocharged engine acting alone

It shall be understood that the process of the FIG. 3 may be repeated indefinitely to adaptively update the values being received, evaluated and determined. Additionally, it shall be understood that certain steps of the process may be performed or repeated individually, independent of the other steps as discussed above.

While the invention has been illustrated and described in detail in the drawings and foregoing description, the same is to be considered as illustrative and not restrictive in character, it being understood that only the preferred embodiment has been shown and described and that all changes, equivalents, and modifications that come within the spirit of the inventions defined by following claims are desired to be protected. All publications, patents, and patent applications cited in this specification are herein incorporated by reference as if each individual publication, patent, or patent application were specifically and individually indicated to be incorporated by reference and set forth in its entirety herein. 

The invention claimed is:
 1. A hybrid system, comprising: a turbocharged engine that includes a turbo charger, and an electric motor generator; an engine controller operatively coupled to the turbocharged engine; and a hybrid controller operatively coupled to the electric motor generator and in communication with the engine controller; wherein the hybrid controller is configured to: receive a driver output torque request from the engine controller; and automatically adjust an output power of the electric motor generator and an output power of the turbocharged engine so that a combined output power of the turbocharged engine and the electric motor generator corresponds to the driver output torque request and is equivalent to the turbo-equivalent output power, which is an output power equivalent to power that would otherwise be provided by the turbocharged engine acting without the electric motor generator.
 2. The hybrid system of claim 1, wherein the hybrid controller determines a turbo-equivalent power limit, and wherein determining the turbo-equivalent output power includes: determining a zero-boost power limit of the turbocharged engine; receiving torque curve information from the engine controller; determining a torque curve power limit of the turbocharged engine from the torque curve information; and monitoring a current power of the turbocharged engine and a current maximum available power of the turbocharged engine.
 3. The hybrid system of claim 2, where in the hybrid controller is further configured to: determine a dynamic response model of the turbocharged engine based on the monitoring, the dynamic response model configured to provide an estimation of the turbocharged engine output power over time as the turbocharger substantially contributes to the output power of the turbocharged engine; and use the dynamic response model to determine a turbo-equivalent power limit.
 4. The hybrid system of claim 3, wherein the hybrid controller is further configured to: receive a current engine torque and a current engine speed from the engine controller; determine a current engine power using the current engine torque and current engine speed; determine an current electric motor torque and a current electric motor speed; determine an electric motor generator output power using the electric motor torque and the current electric motor speed; use the current engine power and the electric motor generator power to determine a total propulsion power; and use the total propulsion power to determine a turbo-equivalent output power using the dynamic response model.
 5. The hybrid system of claim 4, wherein the dynamic response model is represented discreetly by the equation: y([n+1]T _(s))=a y(n T _(s))+k(1−a)u(nT _(s)) where T is a constant, k is a constant, ${\alpha = e^{- \frac{T_{s}}{T}}},$ T_(s) is a discrete sample time, y([n+1]T_(s)) is the turbo-equivalent output power value of the n+1 iteration, y(n T_(s)) is the turbo-equivalent output power value of the n iteration, and u(n T_(s)) is the current engine power of the n iteration.
 6. The hybrid system of claim 5, wherein T and k are adaptively determined by the hybrid controller using infinite impulse response filtering.
 7. The hybrid system of claim 4, wherein the dynamic response model is determined using infinite impulse response filtering.
 8. The hybrid system of claim 3, wherein determining the zero-boost power limit includes: monitoring the maximum available torque of the turbocharged engine while the turbocharged engine is idling; and monitoring the maximum available torque received by the hybrid controller from the engine controller.
 9. The hybrid system of claim 3, wherein the zero boost power limit is determined by multiplying a current engine speed received from the controller by the average of the maximum available torque of the turbocharged engine when idling.
 10. The hybrid system of claim 3, wherein the hybrid controller is further configured to set the turbo-equivalent power limit to a zero boost power limit if the zero-boost power limit is greater than the turbo-equivalent power limit.
 11. The hybrid system of claim 1, wherein the hybrid controller is further configured to: determine a current engine output power using a current engine torque and a current engine speed; determine an electric motor generator output power using an electric motor torque and a current electric motor speed; and use the current engine output power and the current electric motor generator output power to determine the turbo-equivalent output power.
 12. The hybrid system of claim 1, wherein the hybrid controller is further configured to set the turbo-equivalent power limit to a torque curve power limit of the turbocharged engine if the torque curve power limit is less than the turbo-equivalent power limit.
 13. The hybrid system of claim 1, wherein the hybrid controller and the engine controller comprise a single controller.
 14. The hybrid system of claim 1, wherein the hybrid controller and the engine controller are contained in a common housing.
 15. A method of operating a hybrid vehicle using a hybrid controller, comprising: receiving a driver output torque request using the hybrid controller; and using the hybrid controller to automatically adjust an output power of an electric motor generator and an output power of a turbocharged engine so that a combined output power of the turbocharged engine and the electric motor generator corresponds to the driver output torque request and is equivalent to a turbo-equivalent output power, which is an output power equivalent to power that would otherwise be provided by the turbocharged engine acting without the electric motor generator.
 16. The method of claim 15, comprising: determining a torque curve power limit of the turbocharged engine, said torque curve power limit based upon a maximum available engine power; monitoring a current power of the turbocharged engine and the maximum available engine power when the maximum available engine power is between a zero-boost power limit and a torque curve power limit; and determining a dynamic response model of the turbocharged engine based on said monitoring, said model providing an estimation of the turbocharged engine output power over time as the turbocharger contributes to the output power of the turbocharged engine.
 17. The method of claim 16, further comprising: determining a zero-boost power limit of the turbocharged engine; receiving a driver output torque request; and operating the hybrid vehicle such that the collective output power of the turbocharged engine and an electric motor generator of the hybrid vehicle is automatically limited to a turbo-equivalent power limit based on said model, said turbo-equivalent power limit representing the power limit of the turbocharged engine acting alone.
 18. The method of claim 17, further comprising: setting the turbo-equivalent power limit to the zero boost power limit if the zero boost power limit is greater than said turbo-equivalent power limit.
 19. The method of claim 17, further comprising: setting the turbo-equivalent power limit to the torque curve power limit if the torque curve power limit is less than the turbo-equivalent power limit.
 20. The method of claim 16, further comprising: determining an actual engine torque of the turbocharged engine; multiplying said actual engine torque by a current engine speed of the turbocharged engine to determine a current engine power; determining a motor torque of the electric motor generator; multiplying said motor torque by a current speed of the electric motor generator to determine a current motor output power; adding said current engine power and said motor output power to determine a total propulsion power; using the dynamic model to determine the turbo-equivalent power limit; and controlling the turbocharged engine and electric motor generator so that the total propulsion power matches the turbo-equivalent power limit.
 21. The method of claim 16, wherein said dynamic response model is determined by the controller using infinite impulse response filtering.
 22. The method claim 16, wherein said zero-boost power limit is determined by monitoring the maximum available torque of the turbocharged engine while the turbocharged engine is idling. 